From e743a71969f010ef26e16bf0ca369a302e904546 Mon Sep 17 00:00:00 2001
From: wangWking <842749351@qq.com>
Date: Mon, 3 Jul 2023 19:15:00 +0800
Subject: [PATCH] update myarm_urdf joint limit

---
 mycobot_description/urdf/myarm/myarm_urdf.urdf | 12 ++++++------
 1 file changed, 6 insertions(+), 6 deletions(-)

diff --git a/mycobot_description/urdf/myarm/myarm_urdf.urdf b/mycobot_description/urdf/myarm/myarm_urdf.urdf
index ff4fd77..b71b55d 100644
--- a/mycobot_description/urdf/myarm/myarm_urdf.urdf
+++ b/mycobot_description/urdf/myarm/myarm_urdf.urdf
@@ -138,7 +138,7 @@
 
   <joint name="joint1_to_base" type="revolute">
     <axis xyz="0 0 1"/>
-    <limit effort = "1000.0" lower = "-3.14" upper = "3.14" velocity = "0"/>
+    <limit effort = "1000.0" lower = "-2.79" upper = "2.87" velocity = "0"/>
     <parent link="base"/>
     <child link="joint1"/>
     <origin xyz= "0 0 0.165" rpy = "0 0 0"/>  
@@ -147,7 +147,7 @@
 
   <joint name="joint2_to_joint1" type="revolute">
     <axis xyz="0 0 1"/>
-    <limit effort = "1000.0" lower = "-1.5708" upper = "1.5708" velocity = "0"/>
+    <limit effort = "1000.0" lower = "-1.5708" upper = "1.39" velocity = "0"/>
     <parent link="joint1"/>
     <child link="joint2"/>
     <origin xyz= "0 0  0" rpy = "1.5708 3.14159 0"/>  
@@ -156,7 +156,7 @@
 
   <joint name="joint3_to_joint2" type="revolute">
     <axis xyz=" 0 0 1"/>
-    <limit effort = "1000.0" lower = "-3.14" upper = "3.14" velocity = "0"/>
+    <limit effort = "1000.0" lower = "-3.05" upper = "3.05" velocity = "0"/>
     <parent link="joint2"/>
     <child link="joint3"/>
     <origin xyz= "0 -0.11 0   " rpy = "1.5708 0 0"/>  
@@ -166,7 +166,7 @@
  
   <joint name="joint4_to_joint3" type="revolute">
     <axis xyz=" 0 0 1"/>
-    <limit effort = "1000.0" lower = "-1.5708" upper = "1.5708" velocity = "0"/>
+    <limit effort = "1000.0" lower = "-1.91" upper = "1.39" velocity = "0"/>
     <parent link="joint3"/>
     <child link="joint4"/>
     <origin xyz= "0.0 0 0.0" rpy = "-1.5708 0 0"/>  
@@ -175,7 +175,7 @@
 
   <joint name="joint5_to_joint4" type="revolute">
     <axis xyz="0 0 1"/>
-    <limit effort = "1000.0" lower = "-3.14" upper = "3.14" velocity = "0"/>
+    <limit effort = "1000.0" lower = "-2.96" upper = "2.96" velocity = "0"/>
     <parent link="joint4"/>
     <child link="joint5"/>
     <origin xyz= "0 -0.126 0" rpy = "1.5708 0 0"/>  
@@ -184,7 +184,7 @@
  
   <joint name="joint6_to_joint5" type="revolute">
     <axis xyz="0 0 1"/>
-    <limit effort = "1000.0" lower = "-1.5708" upper = "1.5708" velocity = "0"/>
+    <limit effort = "1000.0" lower = "-1.91" upper = "1.91" velocity = "0"/>
     <parent link="joint5"/>
     <child link="joint6"/>
     <origin xyz= "0 0.0 0" rpy = "-1.5708 0 0"/>